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We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and(More)
We have developed a software architecture for teams of robots and humans to jointly perform tightly coordinated tasks, such as assembly of structures in orbit or on planetary surfaces. While we envision that robots will autonomously perform such work in the future, the state of the art falls short of the capabilities necessary to handle all possible(More)
Recent research in human-robot interaction has investigated the concept of Sliding, or Adjustable, Autonomy, a mode of operation bridging the gap between explicit teleoperation and complete robot autonomy. This work has largely been in single-agent domains – involving only one human and one robot – and has not examined the issues that arise in multi-agent(More)
For the past three years, we have been running an experiment in web-based interaction with an autonomous indoor mobile robot. The robot, Xavier, can accept commands to travel to different offices in our building, broadcasting camera images as it travels. The experiment, which was originally designed to test a new navigation algorithm, has proven very(More)
Space mission operations require flexible, efficient and reliable plan execution. In typical operations command sequences (which are a simple subset of general executable plans) are generated on the ground, either manually or with assistance from automated planning, and sent to the spacecraft. For more advanced operations more expressive executable plans(More)
In this paper we present recent advances in developing and validating the safeguarded teleoperation approach to time-delayed remote driving. This approach shares control of the rover using a command fusion strategy: In benign situations, users remotely drive the rover; in hazardous situations, a safeguarding system running on-board the rover overwrites user(More)
This dissertation presents the complete integrated planning, executing and learning robotic agent Rogue. Physical domains are notoriously hard to model completely and correctly. Robotics researchers have developed learning algorithms to successfully tune operational parameters. Instead of improving low-level actuator control, our work focusses instead at(More)
Spacecraft autonomy is becoming an increasingly important technology. Yet the very nature of autonomy − on-board decision making and largely unattended operation − makes it important that such systems be thoroughly tested and validated. We are developing software visualization tools to assist in the validation process. The tools, which are designed to(More)